Another feature that burdens computational efficiency is the requirement of collision avoidance. To fulfill the collision-free requirement, a flight corridor, which is a space with safety assurance, must be specified in advance. Ways to plan a trajectory with flight corridors vary, e.g., sampling method [1]}, two-staged planning strategy [2]}, Bernstein polynomials [3]}, [4]}. Notwithstanding, all of the methods mentioned above are characterized as inequality constraints, introducing burdens on QP’s computation time as a QP can be solved in a much shorter time when equality constraints are involved only.
